Unmanned unhooking robot system and method based on robot technology

Abstract

The invention belongs to the technical field of unhooking robots, and particularly relates to an unattended unhooking robot system and method based on the robot technology, the unattended unhooking robot system comprises an unhooking mechanism and a robot control system, the unhooking mechanism comprises an electric track, a sliding block, a cavity, an unhooking part and a hook lifting pin; the sliding block is connected to the upper portion of the electric rail in a sliding mode, the cavity is fixedly installed above the sliding block, and the unhooking part comprises an air cylinder, a back plate, a motor, a gear, a connecting shaft, a fixing plate, an unhooking disc and an unhooking rod; the air cylinder is fixedly installed on the inner wall of the cavity, the back plate is fixedly connected with the output end of the air cylinder and located in the cavity, the motor is fixedly installed on one side of the back plate, and the gear is fixedly connected with the output end of the motor. The problems that the unhooking robot cannot unhook quickly and smoothly due to the fact that the hook lifting pin is blocked or stuck, unhooking fails or the unhooking process stops are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of hook removing robots, and in particular relates to an unattended hook removing robot system and method based on robot technology. Background Art

[0002] The coupler is a hook at both ends of a train car or locomotive, used to achieve the connection between a locomotive and a vehicle or between vehicles, to transmit traction and impact force, and to keep a certain distance between vehicles. When the tipping machine is unloading a train, the unhooking operator needs to manually unhook the coupler at the entrance of the tipping machine. At present, the hook lifting pins of heavy vehicle couplers such as type 70, type 80, and type 96 often get stuck when lifting the pins, causing the unhooking robot to be suddenly subjected to a large force during the unhooking process and unable to unhook smoothly or successfully. How to automatically and quickly unhook and loosen the hook lifting pin when it is stuck or stuck so as to unhook smoothly has become an urgent problem to be solved by people in this field. Summary of the invention

[0003] The purpose of the present invention is to provide an unattended hook-removing robot system and method based on robotics technology to solve the problems raised in the above-mentioned background technology.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: an unattended hook removal robot system and method based on robot technology, including a hook removal mechanism and a robot control system, the hook removal mechanism including an electric track, a slider, a chamber, a hook removal part and a hook lifting pin; the slider is slidably connected to the top of the electric track, the chamber is fixedly installed on the top of the slider, the hook removal part includes a cylinder, a back plate, a motor, a gear, a connecting shaft, a fixed plate, a hook removal disk and a hook removal rod; the cylinder is fixedly installed on the inner wall of the chamber, the back plate is fixedly connected to the output end of the cylinder and is located inside the chamber, the motor is fixedly installed on one side of the back plate, the gear is fixedly connected to the output end of the motor, the fixed plate is fixedly connected to the back plate, and is connected to the connecting shaft bearing in the middle, a toothed disc is fixed on the outer side of the end of the connecting shaft, and the toothed disc and the gear are meshed with each other, the hook removal disk and the hook removal rod are both fixedly installed on the outer side of the front end of the connecting shaft, and the hook removal rod is located on the front side of the hook removal disk.

[0005] The present invention further illustrates that the robot control system includes a control module, a force sensing module, a strength enhancement module and a mode switching module; a telescopic joint is fixed to the outer end of the unhooking rod, a push rod is fixed to the outer end of the telescopic joint, the force sensing module is arranged inside the push rod, and is electrically connected to the strength enhancement module and the mode switching module, the control module is electrically connected to the cylinder and the motor respectively, and the strength enhancement module and the mode switching module are both electrically connected to the motor; the control module is used to control the reciprocating motion of the cylinder, thereby controlling the forward and backward movement of the unhooking rod, the force sensing module is used to sense the reaction force of the hook lifting pin through the push rod, the strength enhancement module is used to increase the power of the motor, and control the power of the motor according to the size of the reaction force, and the mode switching module is used to switch between two modes of counterclockwise rotation and counterclockwise and clockwise alternating rotation of the motor, and the amplitude of the counterclockwise and clockwise alternating rotation is gradually increased.

[0006] The present invention further illustrates that a fan tooth is fixed on one side of the gear, a hydraulic chamber is fixed on one side of the back plate, a hydraulic plate is slidably connected to the inner wall of the hydraulic chamber, a gear rod is fixed to the bottom of the hydraulic plate, and the fan tooth meshes with the gear rod after rotation; the connecting shaft passes through front and back, and a telescopic rod is arranged inside, the telescopic rod is fixedly connected to one side of the back plate, the interior of the unhooking plate is hollow, and is communicated with the interior of the connecting shaft, a plurality of ball rods are distributed and slidably connected around the unhooking plate, both ends of the plurality of ball rods are spherical, a limiting block is fixed on the outer side of the ball rod, a card block is fixed on the inner wall of the unhooking plate, the ball rod is inserted in the card block, and a spring is arranged between the card block and the limiting block, and the telescopic rod contacts the inner end of the ball rod after being extended; the upper part of the hydraulic chamber is connected to the telescopic rod pipeline, the upper part of the hydraulic plate is filled with hydraulic oil, and the front end of the telescopic rod is spherical.

[0007] The present invention further illustrates that the lower pipeline of the hydraulic chamber is connected to the air chamber, and the lower part of the air chamber is connected to the expansion joint pipeline, and a pressure valve is arranged in the pipeline, the lower part of the hydraulic chamber is connected to the external pipeline, and a one-way valve is arranged in the pipeline; the expansion joint is connected to the external control valve pipeline.

[0008] The present invention further illustrates that the operation method includes the following steps: step S1, the electric track drives the chamber to move to the left side of the hook lifting pin through the slider and then stops; step S2, the cylinder runs, the hook removing disk extends to the left side of the hook lifting pin and contacts it, and then the motor runs to rotate the hook removing disk, and at the same time the hook removing rod drives the push rod to rotate around the center of the hook removing disk, when the push rod continues to rotate smoothly, it enters step S4, on the contrary, when the push rod is stuck, it enters step S3; step S3, the push rod senses the reaction force of the hook lifting pin, and switches the operation mode of the motor through the mode switching module, from continuous counterclockwise rotation to alternating counterclockwise and clockwise rotation, and the amplitude of the alternating counterclockwise and clockwise rotation is gradually increased, and the power of the motor is controlled according to the size of the reaction force of the push rod; step S4, the hook removing is completed, the control module controls the motor to reset, and then controls the cylinder to reset.

[0009] The present invention further illustrates that in step S3, the force acting on the top rod sensed by the force sensing module is set to ; then when hour, is the stabilizing force on the ejector rod: the motor is in a continuous counterclockwise stable rotation mode; when Time: The motor rotates alternately clockwise and counterclockwise, and the amplitude of the alternating rotation increases gradually.

[0010] The present invention further illustrates that in step S3, when hour: , is the counterclockwise output power of the motor, is the maximum force on the push rod, It is the maximum output power of the motor in counterclockwise rotation; that is, the greater the force on the push rod, the greater the counterclockwise power of the motor, and thus the greater the force of the push rod on the hook lifting pin.

[0011] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the present invention removes the hook by pushing the hook lifting pin upward through the hook removing rod, and during the hook removing process, the hook removing plate keeps rolling on the left side of the hook lifting pin, so that the hook lifting pin can be relatively loose, which is convenient for lifting the hook, thereby relatively reducing the probability of the hook lifting pin being stuck, and the hook removing is fully automated, which is convenient and efficient; When the motor continues to rotate counterclockwise, the ball rod can push the hook lifting pin outward to test whether the hook lifting pin is stuck. If it is slightly stuck, it can be loosened. After the push rod contacts the hook lifting pin, it will not be suddenly stressed, thereby preventing the motor mode from switching incorrectly, resulting in a longer hook removal time and affecting the hook removal efficiency. When the force on the top rod suddenly increases, the hook lifting pin is seriously stuck, and the telescopic rod reciprocates back and forth. The front end of the telescopic rod constantly supports the ball rod to make it extend and retract, so that when the hook lifting pin is stuck, it can be continuously loosened, thereby speeding up the hook removal speed and further improving the hook removal efficiency; The telescopic joint extends quickly, thereby driving the push rod to extend quickly and instantly pushing out the hook lifting pin. At this time, it reaches the final stage of hook removal. Therefore, through a one-time hook lifting, the efficiency of hook removal can be fully accelerated, avoiding the phenomenon of low hook removal efficiency when the hook lifting pin is stuck. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the internal structure of the chamber of the present invention; Figure 3 It is a front view of the present invention; Figure 4 It is a schematic diagram of the meshing state of the toothed disc and the gear of the present invention; Figure 5 It is a schematic diagram of the internal structure of the connecting shaft of the present invention; Figure 6 It is a schematic diagram of the internal structure of the hydraulic chamber of the present invention; Figure 7 It is a schematic diagram of the pipeline connection mode between the hydraulic chamber and the telescopic joint and the telescopic rod of the present invention; In the figure: 1. electric track; 2. slider; 3. chamber; 31. cylinder; 32. back plate; 33. motor; 331. gear; 332. fan tooth; 34. connecting shaft; 341. gear plate; 35. fixing plate; 36. hook-off plate; 361. ball rod; 362. spring; 37. hook-off rod; 371. telescopic joint; 372. push rod; 38. hydraulic chamber; 381. hydraulic plate; 382. gear rod; 39. telescopic rod. DETAILED DESCRIPTION

[0013] The following is a further non-limiting detailed description of the technical solution of the present invention in conjunction with the preferred embodiments and the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0014] See also Figure 1-7, the present invention provides a technical solution: an unattended hook-removing robot system and method based on robot technology, including a hook-removing mechanism and a robot control system, the hook-removing mechanism includes an electric track 1, a slider 2, a chamber 3, a hook-removing part and a hook lifting pin; The slider 2 is slidably connected to the upper part of the electric track 1, the chamber 3 is fixedly installed on the upper part of the slider 2, and the hook removing part includes a cylinder 31, a back plate 32, a motor 33, a gear 331, a connecting shaft 34, a fixing plate 35, a hook removing plate 36 and a hook removing rod 37; The cylinder 31 is fixedly mounted on the inner wall of the chamber 3, the back plate 32 is fixedly connected to the output end of the cylinder 31 and is located inside the chamber 3, the motor 33 is fixedly mounted on one side of the back plate 32, the gear 331 is fixedly connected to the output end of the motor 33, the fixed plate 35 is fixedly connected to the back plate 32, and the middle is connected to the connecting shaft 34 by a bearing, a toothed disc 341 is fixed to the outer side of the end of the connecting shaft 34, and the toothed disc 341 and the gear 331 are meshed with each other, the unhooking disc 36 and the unhooking rod 37 are fixedly mounted on the outer side of the front end of the connecting shaft 34, and the unhooking rod 37 is located at the front side of the unhooking disc 36; After the coal carriage stops, the electric rail 1 drives the chamber 3 to move through the slider 2, and the chamber 3 drives the hook-removing plate 36 to move until it moves to the left side of the hook lifting pin and stops. At this time, the cylinder 31 runs, driving the back plate 32 to move forward, and the back plate 32 drives the connecting shaft 34 to move forward through the fixed plate 35, and the connecting shaft 34 drives the hook-removing plate 36 to move forward until it moves to contact the left side of the hook lifting pin. Then the motor 33 runs, driving the gear 331 to rotate, and the gear 331 drives the toothed plate 341 to rotate through meshing, and the toothed plate 341 drives the connecting shaft 34 to rotate, and the connecting shaft 34 drives the hook-removing plate 36 to rotate. At the same time, the hook-removing rod 37 rotates around the center, and the hook-removing rod 37 pushes the hook lifting pin to lift up to remove the hook. During the hook-removing process, the hook-removing plate 36 rolls on the left side of the hook lifting pin all the time, so that the hook lifting pin can be relatively loose, which is convenient for lifting the hook, thereby relatively reducing the probability of the hook lifting pin being stuck, and the hook-removing is fully automated, which is convenient and efficient.

[0015] The robot control system includes a control module, a force sensing module, a strength enhancement module and a mode switching module; A telescopic joint 371 is fixed to the outer end of the unhooking rod 37, a push rod 372 is fixed to the outer end of the telescopic joint 371, a force sensing module is arranged inside the push rod 372, and is electrically connected to the strength enhancement module and the mode switching module, the control module is electrically connected to the cylinder 31 and the motor 33 respectively, and the strength enhancement module and the mode switching module are both electrically connected to the motor 33; The control module is used to control the reciprocating motion of the cylinder 31, thereby controlling the forward and backward movement and retreat of the hook-removing rod 37. The force sensing module is used to sense the reaction force of the hook lifting pin through the top rod 372. The strength enhancement module is used to enhance the power of the motor 33 and control the power of the motor 33 according to the magnitude of the reaction force. The mode switching module is used to switch the two modes of counterclockwise rotation and counterclockwise and clockwise alternating rotation of the motor 33, and the amplitude of the counterclockwise and clockwise alternating rotation is gradually increased. When the unhooking rod 37 rotates around the center, the telescopic joint 371 drives the push rod 372 to rotate, so that the push rod 372 presses against the left side of the hook lifting pin to lift the hook and complete the unhooking work. During the unhooking process, when the force applied to the push rod 372 is stable, it means that the hook lifting pin can lift the hook smoothly without any jamming or blocking. When the force applied to the push rod 372 suddenly increases, it means that the hook lifting pin is stuck. At this time, the motor 33 rotates alternately in the forward and reverse directions, so that the push rod 372 continuously loosens the hook lifting pin, making it easier to unhook, thereby relatively improving the unhooking efficiency. The counterclockwise and clockwise rotation amplitudes gradually increase, and the hook lifting pin can be removed step by step. By controlling the power of the motor 33, an impact force can be generated each time the push rod 372 presses against the hook lifting pin, thereby making it more convenient and quick to unhook.

[0016] A sector tooth 332 is fixed to one side of the gear 331, a hydraulic chamber 38 is fixed to one side of the back plate 32, a hydraulic plate 381 is slidably connected to the inner wall of the hydraulic chamber 38, a gear rod 382 is fixed to the bottom of the hydraulic plate 381, and the sector tooth 332 is meshed with the gear rod 382 after rotation; The connecting shaft 34 is penetrated from front to back and is provided with a telescopic rod 39 inside. The telescopic rod 39 is fixedly connected to one side of the back plate 32. The inside of the hook-removing plate 36 is hollow and communicates with the inside of the connecting shaft 34. A plurality of ball rods 361 are distributed and slidably connected around the hook-removing plate 36. Both ends of the plurality of ball rods 361 are spherical. A limiting block is fixed on the outer side of the ball rod 361. A clamping block is fixed on the inner wall of the hook-removing plate 36. The ball rod 361 is inserted into the clamping block, and a spring 362 is provided between the clamping block and the limiting block. After the telescopic rod 39 is extended, it contacts the inner end of the ball rod 361. The top of the hydraulic chamber 38 is connected to the telescopic rod 39 by a pipeline, the top of the hydraulic plate 381 is filled with hydraulic oil, and the front end of the telescopic rod 39 is spherical; When the motor 33 continues to rotate counterclockwise, the gear 331 drives the fan teeth 332 to rotate around its center until the fan teeth 332 mesh with the gear rod 382, ​​driving the gear rod 382 to move upward, and the gear rod 382 drives the hydraulic plate 381 to slide upward along the inner wall of the hydraulic chamber 38, and the hydraulic oil is squeezed into the telescopic rod 39 through the pipeline to extend it. The telescopic rod 39 extends, and the spherical part at the front end contacts the inner end of the ball rod 361, and the ball rod 361 slides outward. At the same time, the spring 362 is deformed by force. At this time, the ball rod 361 can push the hook pin outward, so as to first test whether the hook pin is stuck. If it is slightly stuck, it can be loosened. After the subsequent push rod 372 contacts the hook pin, it will not be suddenly stressed, thereby preventing the motor 33 from switching the mode incorrectly, resulting in a longer time for unhooking and affecting the efficiency of unhooking. When the force acting on the push rod 372 suddenly increases, the hook lifting pin is seriously stuck, thereby driving the motor 33 to switch the operation mode. The motor 33 first rotates counterclockwise for several circles, and then rotates clockwise for the same number of circles, and the number of circles of alternating clockwise and counterclockwise rotation gradually increases, thereby slowly impacting the hook lifting pin to remove the hook. When the motor 33 rotates alternately clockwise and counterclockwise, the fan teeth 332 also rotate alternately clockwise and counterclockwise, so that the gear rod 382 moves up and down through meshing, driving the hydraulic plate 381 to slide up and down along the inner wall of the hydraulic chamber 38, continuously injecting hydraulic oil into the telescopic rod 39 and then extracting it, so that the telescopic rod 39 reciprocates and retracts back and forth, and the front end of the telescopic rod 39 continuously supports the ball rod 361 to extend and retract it, so that when the hook lifting pin is stuck, it can be continuously loosened, thereby accelerating the hook removal speed and further improving the hook removal efficiency.

[0017] The lower pipeline of the hydraulic chamber 38 is connected to the air chamber, and the lower part of the air chamber is connected to the pipeline of the expansion joint 371, and a pressure valve is arranged in the pipeline. The lower part of the hydraulic chamber 38 is connected to the external pipeline, and a one-way valve is arranged in the pipeline. The expansion joint 371 is connected to the external control valve pipeline; When the hydraulic plate 381 slides up and down along the inner wall of the hydraulic chamber 38, gas is extracted from the outside through a pipeline and injected into the air chamber until the pressure in the air chamber reaches the pressure limit of the pressure valve, thereby opening the pressure valve and allowing gas to quickly enter the telescopic joint 371, causing it to quickly extend, thereby driving the push rod 372 to quickly extend and instantly push out the hook lifting pin. This is the final stage of hook removal, and through a one-time hook lifting operation, the efficiency of hook removal can be fully accelerated, thereby avoiding the phenomenon of low hook removal efficiency when the hook lifting pin is stuck.

[0018] The operation method includes the following steps: Step S1, the electric track 1 drives the chamber 3 to move through the slider 2 until the hook removal plate 36 is located on the left side of the hook lifting pin and stops; Step S2, the cylinder 31 is operated, the hook-removing plate 36 extends to the left side of the hook lifting pin and contacts it, and then the motor 33 is operated to rotate the hook-removing plate 36, and at the same time, the hook-removing rod 37 drives the push rod 372 to rotate around the center of the hook-removing plate 36. When the push rod 372 continues to rotate smoothly, step S4 is entered, otherwise when the push rod 372 is stuck, step S3 is entered; Step S3, the push rod 372 senses the reaction force of the hook lifting pin, and switches the operation mode of the motor 33 through the mode switching module, from continuous counterclockwise rotation to alternating counterclockwise and clockwise rotation, and the amplitude of the alternating counterclockwise and clockwise rotation is gradually increased, and the power of the motor 33 is controlled according to the magnitude of the reaction force of the push rod 372; Step S4, the hook is removed, and the control module controls the motor 33 to reset, and then controls the cylinder 31 to reset.

[0019] In step S3, the force acting on the top rod 372 sensed by the force sensing module is set to ; Then when hour, is the stabilizing force on the top rod 372: the motor 33 is in a continuous counterclockwise stable rotation mode; when When: the motor 33 is in a counterclockwise and clockwise alternating rotation mode, and the amplitude of the alternating rotation gradually increases; When switching between these two modes, when the motor 33 continues to rotate steadily counterclockwise, the hook is removed normally to ensure the efficiency of hook removal. When the hook lifting pin is stuck, a hook removal method is switched to avoid the phenomenon that the hook cannot be removed smoothly due to the jamming of the hook lifting pin. Regardless of whether the hook lifting pin is stuck or not, the hook can be removed quickly and efficiently.

[0020] In step S3, when hour: , is the counterclockwise rotation output power of the motor 33, is the maximum force on the ejector pin 372, is the maximum output power of the motor 33 in counterclockwise rotation; That is, the greater the force on the top rod 372, the greater the counterclockwise power of the motor 33, so that the top rod 372 exerts a greater force on the hook lifting pin; When the push rod 372 rotates counterclockwise around the center to push the hook lifting pin upward, the greater the force on the push rod 372, the greater the force of the motor 33 when it rotates counterclockwise next time, which can further accelerate the speed of unhooking. On the contrary, while ensuring the efficiency of unhooking, it reduces energy consumption, reduces structural wear, and increases service life.

[0021] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0022] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents, and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An unattended hook-removing robot system based on robotics technology, comprising a hook-removing mechanism and a robot control system, characterized in that: The hook removing mechanism comprises an electric track (1), a slider (2), a chamber (3), a hook removing part and a hook lifting pin; The slider (2) is slidably connected to the top of the electric track (1), the chamber (3) is fixedly installed on the top of the slider (2), and the hook removing part comprises a cylinder (31), a back plate (32), a motor (33), a gear (331), a connecting shaft (34), a fixing plate (35), a hook removing plate (36) and a hook removing rod (37); The cylinder (31) is fixedly mounted on the inner wall of the chamber (3); the back plate (32) is fixedly connected to the output end of the cylinder (31) and is located inside the chamber (3); the motor (33) is fixedly mounted on one side of the back plate (32); the gear (331) is fixedly connected to the output end of the motor (33); the fixed plate (35) is fixedly connected to the back plate (32) and is connected to the bearing of the connecting shaft (34) in the middle; a toothed disc (341) is fixedly mounted on the outer side of the end of the connecting shaft (34), and the toothed disc (341) and the gear (331) are meshed with each other; the hook-removing disc (36) and the hook-removing rod (37) are both fixedly mounted on the outer side of the front end of the connecting shaft (34), and the hook-removing rod (37) is located on the front side of the hook-removing disc (36).

2. The unattended hook-removing robot system based on robot technology according to claim 1 is characterized by: The robot control system includes a control module, a force sensing module, a strength enhancement module and a mode switching module; A telescopic joint (371) is fixed to the outer end of the unhooking rod (37), a push rod (372) is fixed to the outer end of the telescopic joint (371), the force sensing module is arranged inside the push rod (372), and is electrically connected to the strength enhancement module and the mode switching module, the control module is electrically connected to the cylinder (31) and the motor (33), respectively, and the strength enhancement module and the mode switching module are both electrically connected to the motor (33); The control module is used to control the reciprocating motion of the cylinder (31), thereby controlling the forward and backward movement and retreat of the hook-removing rod (37); the force sensing module is used to sense the reaction force of the hook lifting pin through the push rod (372); the strength increasing module is used to increase the power of the motor (33) and control the power of the motor (33) according to the magnitude of the reaction force; the mode switching module is used to switch the motor (33) between two modes of counterclockwise rotation and alternating counterclockwise and clockwise rotation, and the amplitude of the alternating counterclockwise and clockwise rotation is gradually increased.

3. The unattended hook-removing robot system based on robot technology according to claim 2 is characterized in that: A sector tooth (332) is fixed on one side of the gear (331), a hydraulic chamber (38) is fixed on one side of the back plate (32), a hydraulic plate (381) is slidably connected to the inner wall of the hydraulic chamber (38), a gear rod (382) is fixed on the bottom of the hydraulic plate (381), and the sector tooth (332) meshes with the gear rod (382) after rotation; The connecting shaft (34) passes through the front and rear and is provided with a telescopic rod (39) inside. The telescopic rod (39) is fixedly connected to one side of the back plate (32). The inside of the hook-removing plate (36) is hollow and communicates with the inside of the connecting shaft (34). A plurality of ball rods (361) are distributed and slidably connected around the hook-removing plate (36). Both ends of the plurality of ball rods (361) are spherical. A limiting block is fixed on the outside of the ball rod (361). A clamping block is fixed on the inner wall of the hook-removing plate (36). The ball rod (361) is inserted into the clamping block. A spring (362) is provided between the clamping block and the limiting block. After the telescopic rod (39) is extended, it contacts the inner end of the ball rod (361). The upper part of the hydraulic chamber (38) is connected to the telescopic rod (39) through a pipeline, the upper part of the hydraulic plate (381) is filled with hydraulic oil, and the front end of the telescopic rod (39) is spherical.

4. The unattended hook-removing robot system based on robot technology according to claim 3 is characterized by: The pipeline below the hydraulic chamber (38) is connected to the air chamber, and the lower part of the air chamber is connected to the pipeline of the telescopic joint (371), and a pressure valve is arranged in the pipeline; the lower part of the hydraulic chamber (38) is connected to the external pipeline, and a one-way valve is arranged in the pipeline; The expansion joint (371) is connected to an external control valve pipeline.

5. An operating method of an unmanned hook-removing robot system based on robotics technology, according to claim 4, characterized in that: The operation method comprises the following steps: Step S1, the electric track (1) drives the chamber (3) to move through the slider (2) until the hook removal plate (36) is located on the left side of the hook lifting pin and then stops; Step S2, the cylinder (31) operates, the hook-removing plate (36) extends to the left side of the hook lifting pin and contacts it, and then the motor (33) operates to rotate the hook-removing plate (36), and at the same time, the hook-removing rod (37) drives the push rod (372) to rotate around the center of the hook-removing plate (36). When the push rod (372) continues to rotate smoothly, step S4 is entered; on the contrary, when the push rod (372) is stuck, step S3 is entered; Step S3, the push rod (372) senses the reaction force of the hook lifting pin, and switches the operation mode of the motor (33) through the mode switching module, from continuous counterclockwise rotation to alternating counterclockwise and clockwise rotation, and the amplitude of the alternating counterclockwise and clockwise rotation is gradually increased, and at the same time, the power of the motor (33) is controlled according to the magnitude of the reaction force of the push rod (372); Step S4: After the hook is removed, the control module controls the motor (33) to reset, and then controls the cylinder (31) to reset.

6. The method for operating an unattended hook-removing robot system based on robot technology according to claim 5, characterized in that: In step S3, the force acting on the top rod (372) sensed by the force sensing module is set to ; Then when hour, The stabilizing force on the ejector rod (372) is as follows: the motor (33) is in a continuous counterclockwise stable rotation mode; when When: the motor (33) is in a counterclockwise and clockwise rotation alternating mode, and the amplitude of the alternating rotation gradually increases.

7. The method for operating an unattended hook-removing robot system based on robot technology according to claim 6, characterized in that: In step S3, when hour: , is the counterclockwise rotation output power of the motor (33), is the maximum force on the ejector rod (372), is the maximum output power of the motor (33) in counterclockwise rotation; That is, the greater the force applied to the push rod (372), the greater the counterclockwise rotation power of the motor (33), thereby causing the push rod (372) to exert a greater force on the hook lifting pin.

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